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<div class="title">narf.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_NARF_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_NARF_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/features/eigen.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/common_headers.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_representation.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">class </span>RangeImage;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">struct </span>InterestPoint;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#define NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE 10</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html">   63</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_narf.html">Narf</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a3361724a9bbcbafbf1c1da3b521b1127">   68</a></span>&#160;<span class="comment"></span>      <a class="code" href="classpcl_1_1_narf.html#a3361724a9bbcbafbf1c1da3b521b1127">Narf</a>();</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a41bb4751e236b5b67d90380d3ecb4f50">   70</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a41bb4751e236b5b67d90380d3ecb4f50">Narf</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_narf.html">Narf</a>&amp; other);</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#aa856b2054103e3dae1553e13bfdbcc58">   72</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#aa856b2054103e3dae1553e13bfdbcc58">~Narf</a>();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="comment">// =====Operators=====</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a447a5e5900e07dd690ba22926f52767b">   76</a></span>&#160;<span class="comment"></span>      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_narf.html">Narf</a>&amp; <a class="code" href="classpcl_1_1_narf.html#a447a5e5900e07dd690ba22926f52767b">operator=</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_narf.html">Narf</a>&amp; other);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">// =====STATIC=====</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a1cc0989284b374c5bded66135a1b67ba">   80</a></span>&#160;<span class="comment"></span>      <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_narf.html#a1cc0989284b374c5bded66135a1b67ba">max_no_of_threads</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a2b67a8d6011ee5c20d9427e7cdd1b3d6">   84</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a2b67a8d6011ee5c20d9427e7cdd1b3d6">extractFromRangeImageAndAddToList</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keyword">const</span> Eigen::Vector3f&amp; interest_point, <span class="keywordtype">int</span> descriptor_size,</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                                         <span class="keywordtype">float</span> support_size, <span class="keywordtype">bool</span> rotation_invariant, std::vector&lt;Narf*&gt;&amp; feature_list);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#aab5c91809cbfbce1ede48f82125fc2fd">   88</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#aab5c91809cbfbce1ede48f82125fc2fd">extractFromRangeImageAndAddToList</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">int</span> descriptor_size,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                         <span class="keywordtype">float</span> support_size, <span class="keywordtype">bool</span> rotation_invariant, std::vector&lt;Narf*&gt;&amp; feature_list);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#ad0d6212bd684e1bd04281b2b495bdd81">   92</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#ad0d6212bd684e1bd04281b2b495bdd81">extractForInterestPoints</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;InterestPoint&gt;</a>&amp; interest_points,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                                <span class="keywordtype">int</span> descriptor_size, <span class="keywordtype">float</span> support_size, <span class="keywordtype">bool</span> rotation_invariant, std::vector&lt;Narf*&gt;&amp; feature_list);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#abcbc027348cdabae5b754a01faf7dbcf">   96</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#abcbc027348cdabae5b754a01faf7dbcf">extractForEveryRangeImagePointAndAddToList</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keywordtype">int</span> descriptor_size, <span class="keywordtype">float</span> support_size,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                                                  <span class="keywordtype">bool</span> rotation_invariant, std::vector&lt;Narf*&gt;&amp; feature_list);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="comment">// =====PUBLIC METHODS=====</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment"></span>      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a8101cd954ba024b13e3ffee8610c7e2c">  106</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a8101cd954ba024b13e3ffee8610c7e2c">extractFromRangeImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keyword">const</span> Eigen::Affine3f&amp; pose, <span class="keywordtype">int</span> descriptor_size, <span class="keywordtype">float</span> support_size,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                             <span class="keywordtype">int</span> surface_patch_world_size=NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a5dbd5dd3d873ddb21dcec86c0ae9ae96">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a5dbd5dd3d873ddb21dcec86c0ae9ae96">extractFromRangeImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">int</span> descriptor_size, <span class="keywordtype">float</span> support_size);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a20092247992db18752400cc4fccfed22">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a20092247992db18752400cc4fccfed22">extractFromRangeImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_interest_point.html">InterestPoint</a>&amp; interest_point, <span class="keywordtype">int</span> descriptor_size, <span class="keywordtype">float</span> support_size);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#ad356170cac220a28fbc40ce75d63ff77">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#ad356170cac220a28fbc40ce75d63ff77">extractFromRangeImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keyword">const</span> Eigen::Vector3f&amp; interest_point, <span class="keywordtype">int</span> descriptor_size, <span class="keywordtype">float</span> support_size);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#aa62146ff1369f2f3c3b15a8183910269">  124</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#aa62146ff1369f2f3c3b15a8183910269">extractFromRangeImageWithBestRotation</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keyword">const</span> Eigen::Vector3f&amp; interest_point,</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                                             <span class="keywordtype">int</span> descriptor_size, <span class="keywordtype">float</span> support_size);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="comment">/* Get the dominant rotations of the current descriptor</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">       * \param rotations the returned rotations</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">       * \param strength values describing how pronounced the corresponding rotations are</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      getRotations (std::vector&lt;float&gt;&amp; rotations, std::vector&lt;float&gt;&amp; strengths) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="comment">/* Get the feature with a different rotation around the normal</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">       * You are responsible for deleting the new features!</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">       * \param range_image the source from which the feature is extracted</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">       * \param rotations list of angles (in radians)</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">       * \param rvps returned features</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      getRotatedVersions (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image, <span class="keyword">const</span> std::vector&lt;float&gt;&amp; rotations, std::vector&lt;Narf*&gt;&amp; features) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      getDescriptorDistance (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_narf.html">Narf</a>&amp; other) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a71de93b130af347bada8af0848d2cebe">  149</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a71de93b130af347bada8af0848d2cebe">getNoOfBeamPoints</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (ceil (0.5f * <span class="keywordtype">float</span> (surface_patch_pixel_size_))))); }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      copyToNarf36 (<a class="code" href="structpcl_1_1_narf36.html">Narf36</a>&amp; narf36) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a89db16a26f7e0925e718a75efba608a6">  157</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a89db16a26f7e0925e718a75efba608a6">saveBinary</a> (<span class="keyword">const</span> std::string&amp; filename) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a50806a8a86f0ae211fec512fc3690ab1">  160</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a50806a8a86f0ae211fec512fc3690ab1">saveBinary</a> (std::ostream&amp; file) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a87a7424251b04af12cc614b8a5748df3">  164</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a87a7424251b04af12cc614b8a5748df3">loadBinary</a> (<span class="keyword">const</span> std::string&amp; filename);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#ac93851648c43f8b8cd638cac800a44fe">  167</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#ac93851648c43f8b8cd638cac800a44fe">loadBinary</a> (std::istream&amp; file);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#ab3fcc2d8f34c150c6640a554dfa86cb9">  171</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#ab3fcc2d8f34c150c6640a554dfa86cb9">extractDescriptor</a> (<span class="keywordtype">int</span> descriptor_size);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="comment">// =====GETTERS=====</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>* </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a7256133a789ed42b4e2fecb9ef7ee061">  176</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a7256133a789ed42b4e2fecb9ef7ee061">getDescriptor</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> descriptor_;}</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span>* </div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a9eefc769a909b7e125a794c380c1b5fb">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a9eefc769a909b7e125a794c380c1b5fb">getDescriptor</a> () { <span class="keywordflow">return</span> descriptor_;}</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a247fa8f296b6e23be8018073148ac3b3">  182</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a247fa8f296b6e23be8018073148ac3b3">getDescriptorSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> descriptor_size_;}</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span>&amp; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a127e876ba90da31343abce7b99c6d305">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a127e876ba90da31343abce7b99c6d305">getDescriptorSize</a> () { <span class="keywordflow">return</span> descriptor_size_;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Vector3f&amp; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#ac31a69b7a3388b2d38551e16f7c2dd5a">  188</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#ac31a69b7a3388b2d38551e16f7c2dd5a">getPosition</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> position_;}</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f&amp; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#ad06fca7936e50819c27ca51221283641">  191</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#ad06fca7936e50819c27ca51221283641">getPosition</a> () { <span class="keywordflow">return</span> position_;}</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Affine3f&amp; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a4b5c9962ee22c46722a476a395923557">  194</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a4b5c9962ee22c46722a476a395923557">getTransformation</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> transformation_;}</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keyword">inline</span> Eigen::Affine3f&amp; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a646fe283f6b99fb19b7fc7784a32932d">  197</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a646fe283f6b99fb19b7fc7784a32932d">getTransformation</a> () { <span class="keywordflow">return</span> transformation_;}</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a5b6b7604877fe35cb82e16bdf2456237">  200</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a5b6b7604877fe35cb82e16bdf2456237">getSurfacePatchPixelSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> surface_patch_pixel_size_;}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span>&amp; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a7c4f635ff08342e9713a8ce92f8bb43d">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a7c4f635ff08342e9713a8ce92f8bb43d">getSurfacePatchPixelSize</a> () { <span class="keywordflow">return</span> surface_patch_pixel_size_;}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a9ee48b664ec95b095dec9f7d5fcd3dab">  206</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a9ee48b664ec95b095dec9f7d5fcd3dab">getSurfacePatchWorldSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> surface_patch_world_size_;}</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span>&amp; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a64470852459c8b05ab4ed7e0452e7450">  209</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a64470852459c8b05ab4ed7e0452e7450">getSurfacePatchWorldSize</a> () { <span class="keywordflow">return</span> surface_patch_world_size_;}</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a094f2ffdf7ac21701d5858ae68a38dd2">  212</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a094f2ffdf7ac21701d5858ae68a38dd2">getSurfacePatchRotation</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> surface_patch_rotation_;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span>&amp; </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a110dd08e4a29e511800839305da96ba7">  215</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a110dd08e4a29e511800839305da96ba7">getSurfacePatchRotation</a> () { <span class="keywordflow">return</span> surface_patch_rotation_;}</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>* </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a09f04405209b3d65a6215f9c599f5cee">  218</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a09f04405209b3d65a6215f9c599f5cee">getSurfacePatch</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> surface_patch_;}</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span>* </div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a6f6f7d54e2d08f6aef84cd717573a49f">  221</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a6f6f7d54e2d08f6aef84cd717573a49f">getSurfacePatch</a> () { <span class="keywordflow">return</span> surface_patch_;}</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a45cb31bfbb5079c6807226e535a796f4">  224</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a45cb31bfbb5079c6807226e535a796f4">freeSurfacePatch</a> () { <span class="keyword">delete</span>[] surface_patch_; surface_patch_=NULL; surface_patch_pixel_size_=0; }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="comment">// =====SETTERS=====</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#af6765896bc6146f1543c96b9a8c198dd">  229</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#af6765896bc6146f1543c96b9a8c198dd">setDescriptor</a> (<span class="keywordtype">float</span>* descriptor) { descriptor_ = descriptor;}</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a2268e742874fb98b9671a430d1ec6299">  232</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a2268e742874fb98b9671a430d1ec6299">setSurfacePatch</a> (<span class="keywordtype">float</span>* surface_patch) { surface_patch_ = surface_patch;}</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="comment">// =====PUBLIC MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="comment">// =====PUBLIC STRUCTS=====</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_1_1_feature_point_representation.html">  237</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_narf_1_1_feature_point_representation.html">FeaturePointRepresentation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a>&lt;Narf*&gt;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_narf.html">Narf</a>* <a class="code" href="classpcl_1_1_narf.html">PointT</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <a class="code" href="structpcl_1_1_narf_1_1_feature_point_representation.html">FeaturePointRepresentation</a>(<span class="keywordtype">int</span> nr_dimensions) { this-&gt;nr_dimensions_ = nr_dimensions; }</div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_1_1_feature_point_representation.html#a97bcb35f5251e016e2b8d99f16a70e28">  242</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="structpcl_1_1_narf_1_1_feature_point_representation.html#a97bcb35f5251e016e2b8d99f16a70e28">~FeaturePointRepresentation</a> () {}</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> copyToFloatArray (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p, <span class="keywordtype">float</span>* out)<span class="keyword"> const </span>{ memcpy(out, p-&gt;getDescriptor(), <span class="keyword">sizeof</span>(*p-&gt;getDescriptor())*this-&gt;nr_dimensions_); }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      };</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="comment">// =====PROTECTED METHODS=====</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment"></span>      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#aa9335fa38746f8e7bfb4c9636331e1fc">  250</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#aa9335fa38746f8e7bfb4c9636331e1fc">reset</a> ();</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#adf2b4b5701f7f4870bff70391f533dc8">  253</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#adf2b4b5701f7f4870bff70391f533dc8">deepCopy</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_narf.html">Narf</a>&amp; other);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordtype">float</span>* </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a7b5d224adcdd8485e02a05ebe229aaf1">  256</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a7b5d224adcdd8485e02a05ebe229aaf1">getBlurredSurfacePatch</a> (<span class="keywordtype">int</span> new_pixel_size, <span class="keywordtype">int</span> blur_radius) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a8125c8d1ca006267b558380b85fdfc2a">  260</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a8125c8d1ca006267b558380b85fdfc2a">saveHeader</a> (std::ostream&amp; file) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf.html#a4e7e324958d2d3ffa82fd598e70bc57d">  263</a></span>&#160;      <a class="code" href="classpcl_1_1_narf.html#a4e7e324958d2d3ffa82fd598e70bc57d">loadHeader</a> (std::istream&amp; file) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="comment">// =====PROTECTED STATIC METHODS=====</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> std::string </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      getHeaderKeyword () { <span class="keywordflow">return</span> <span class="stringliteral">&quot;NARF&quot;</span>; }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="comment">// =====PROTECTED STATIC VARIABLES=====</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">int</span> VERSION = 1;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="comment">// =====PROTECTED MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      Eigen::Vector3f position_;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      Eigen::Affine3f transformation_;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordtype">float</span>* surface_patch_;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keywordtype">int</span> surface_patch_pixel_size_;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordtype">float</span> surface_patch_world_size_;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordtype">float</span> surface_patch_rotation_;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keywordtype">float</span>* descriptor_;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      <span class="keywordtype">int</span> descriptor_size_;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="comment">// =====STATIC PROTECTED=====</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  };</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="preprocessor">#undef NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;}  <span class="comment">// end namespace pcl</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/narf.hpp&gt;</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_NARF_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_narf_html"><div class="ttname"><a href="classpcl_1_1_narf.html">pcl::Narf</a></div><div class="ttdoc">NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data....</div><div class="ttdef"><b>Definition:</b> narf.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a094f2ffdf7ac21701d5858ae68a38dd2"><div class="ttname"><a href="classpcl_1_1_narf.html#a094f2ffdf7ac21701d5858ae68a38dd2">pcl::Narf::getSurfacePatchRotation</a></div><div class="ttdeci">const float &amp; getSurfacePatchRotation() const</div><div class="ttdoc">Getter (const) for the rotation of the surface patch</div><div class="ttdef"><b>Definition:</b> narf.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a09f04405209b3d65a6215f9c599f5cee"><div class="ttname"><a href="classpcl_1_1_narf.html#a09f04405209b3d65a6215f9c599f5cee">pcl::Narf::getSurfacePatch</a></div><div class="ttdeci">const float * getSurfacePatch() const</div><div class="ttdoc">Getter (const) for the surface patch</div><div class="ttdef"><b>Definition:</b> narf.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a110dd08e4a29e511800839305da96ba7"><div class="ttname"><a href="classpcl_1_1_narf.html#a110dd08e4a29e511800839305da96ba7">pcl::Narf::getSurfacePatchRotation</a></div><div class="ttdeci">float &amp; getSurfacePatchRotation()</div><div class="ttdoc">Getter for the rotation of the surface patch</div><div class="ttdef"><b>Definition:</b> narf.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a127e876ba90da31343abce7b99c6d305"><div class="ttname"><a href="classpcl_1_1_narf.html#a127e876ba90da31343abce7b99c6d305">pcl::Narf::getDescriptorSize</a></div><div class="ttdeci">int &amp; getDescriptorSize()</div><div class="ttdoc">Getter for the descriptor length</div><div class="ttdef"><b>Definition:</b> narf.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a1cc0989284b374c5bded66135a1b67ba"><div class="ttname"><a href="classpcl_1_1_narf.html#a1cc0989284b374c5bded66135a1b67ba">pcl::Narf::max_no_of_threads</a></div><div class="ttdeci">static int max_no_of_threads</div><div class="ttdef"><b>Definition:</b> narf.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a20092247992db18752400cc4fccfed22"><div class="ttname"><a href="classpcl_1_1_narf.html#a20092247992db18752400cc4fccfed22">pcl::Narf::extractFromRangeImage</a></div><div class="ttdeci">bool extractFromRangeImage(const RangeImage &amp;range_image, const InterestPoint &amp;interest_point, int descriptor_size, float support_size)</div><div class="ttdoc">Same as above</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a2268e742874fb98b9671a430d1ec6299"><div class="ttname"><a href="classpcl_1_1_narf.html#a2268e742874fb98b9671a430d1ec6299">pcl::Narf::setSurfacePatch</a></div><div class="ttdeci">void setSurfacePatch(float *surface_patch)</div><div class="ttdoc">Setter for the surface patch</div><div class="ttdef"><b>Definition:</b> narf.h:232</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a247fa8f296b6e23be8018073148ac3b3"><div class="ttname"><a href="classpcl_1_1_narf.html#a247fa8f296b6e23be8018073148ac3b3">pcl::Narf::getDescriptorSize</a></div><div class="ttdeci">const int &amp; getDescriptorSize() const</div><div class="ttdoc">Getter (const) for the descriptor length</div><div class="ttdef"><b>Definition:</b> narf.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a2b67a8d6011ee5c20d9427e7cdd1b3d6"><div class="ttname"><a href="classpcl_1_1_narf.html#a2b67a8d6011ee5c20d9427e7cdd1b3d6">pcl::Narf::extractFromRangeImageAndAddToList</a></div><div class="ttdeci">static void extractFromRangeImageAndAddToList(const RangeImage &amp;range_image, const Eigen::Vector3f &amp;interest_point, int descriptor_size, float support_size, bool rotation_invariant, std::vector&lt; Narf * &gt; &amp;feature_list)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a3361724a9bbcbafbf1c1da3b521b1127"><div class="ttname"><a href="classpcl_1_1_narf.html#a3361724a9bbcbafbf1c1da3b521b1127">pcl::Narf::Narf</a></div><div class="ttdeci">Narf()</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a41bb4751e236b5b67d90380d3ecb4f50"><div class="ttname"><a href="classpcl_1_1_narf.html#a41bb4751e236b5b67d90380d3ecb4f50">pcl::Narf::Narf</a></div><div class="ttdeci">Narf(const Narf &amp;other)</div><div class="ttdoc">Copy Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a447a5e5900e07dd690ba22926f52767b"><div class="ttname"><a href="classpcl_1_1_narf.html#a447a5e5900e07dd690ba22926f52767b">pcl::Narf::operator=</a></div><div class="ttdeci">const Narf &amp; operator=(const Narf &amp;other)</div><div class="ttdoc">Assignment operator</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a45cb31bfbb5079c6807226e535a796f4"><div class="ttname"><a href="classpcl_1_1_narf.html#a45cb31bfbb5079c6807226e535a796f4">pcl::Narf::freeSurfacePatch</a></div><div class="ttdeci">void freeSurfacePatch()</div><div class="ttdoc">Method to erase the surface patch and free the memory</div><div class="ttdef"><b>Definition:</b> narf.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a4b5c9962ee22c46722a476a395923557"><div class="ttname"><a href="classpcl_1_1_narf.html#a4b5c9962ee22c46722a476a395923557">pcl::Narf::getTransformation</a></div><div class="ttdeci">const Eigen::Affine3f &amp; getTransformation() const</div><div class="ttdoc">Getter (const) for the 6DoF pose</div><div class="ttdef"><b>Definition:</b> narf.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a4e7e324958d2d3ffa82fd598e70bc57d"><div class="ttname"><a href="classpcl_1_1_narf.html#a4e7e324958d2d3ffa82fd598e70bc57d">pcl::Narf::loadHeader</a></div><div class="ttdeci">int loadHeader(std::istream &amp;file) const</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a50806a8a86f0ae211fec512fc3690ab1"><div class="ttname"><a href="classpcl_1_1_narf.html#a50806a8a86f0ae211fec512fc3690ab1">pcl::Narf::saveBinary</a></div><div class="ttdeci">void saveBinary(std::ostream &amp;file) const</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a5b6b7604877fe35cb82e16bdf2456237"><div class="ttname"><a href="classpcl_1_1_narf.html#a5b6b7604877fe35cb82e16bdf2456237">pcl::Narf::getSurfacePatchPixelSize</a></div><div class="ttdeci">const int &amp; getSurfacePatchPixelSize() const</div><div class="ttdoc">Getter (const) for the pixel size of the surface patch (only one dimension)</div><div class="ttdef"><b>Definition:</b> narf.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a5dbd5dd3d873ddb21dcec86c0ae9ae96"><div class="ttname"><a href="classpcl_1_1_narf.html#a5dbd5dd3d873ddb21dcec86c0ae9ae96">pcl::Narf::extractFromRangeImage</a></div><div class="ttdeci">bool extractFromRangeImage(const RangeImage &amp;range_image, float x, float y, int descriptor_size, float support_size)</div><div class="ttdoc">Same as above, but determines the transformation from the surface in the range image</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a64470852459c8b05ab4ed7e0452e7450"><div class="ttname"><a href="classpcl_1_1_narf.html#a64470852459c8b05ab4ed7e0452e7450">pcl::Narf::getSurfacePatchWorldSize</a></div><div class="ttdeci">float &amp; getSurfacePatchWorldSize()</div><div class="ttdoc">Getter for the world size of the surface patch</div><div class="ttdef"><b>Definition:</b> narf.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a646fe283f6b99fb19b7fc7784a32932d"><div class="ttname"><a href="classpcl_1_1_narf.html#a646fe283f6b99fb19b7fc7784a32932d">pcl::Narf::getTransformation</a></div><div class="ttdeci">Eigen::Affine3f &amp; getTransformation()</div><div class="ttdoc">Getter for the 6DoF pose</div><div class="ttdef"><b>Definition:</b> narf.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a6f6f7d54e2d08f6aef84cd717573a49f"><div class="ttname"><a href="classpcl_1_1_narf.html#a6f6f7d54e2d08f6aef84cd717573a49f">pcl::Narf::getSurfacePatch</a></div><div class="ttdeci">float * getSurfacePatch()</div><div class="ttdoc">Getter for the surface patch</div><div class="ttdef"><b>Definition:</b> narf.h:221</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a71de93b130af347bada8af0848d2cebe"><div class="ttname"><a href="classpcl_1_1_narf.html#a71de93b130af347bada8af0848d2cebe">pcl::Narf::getNoOfBeamPoints</a></div><div class="ttdeci">int getNoOfBeamPoints() const</div><div class="ttdoc">How many points on each beam of the gradient star are used to calculate the descriptor?</div><div class="ttdef"><b>Definition:</b> narf.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a7256133a789ed42b4e2fecb9ef7ee061"><div class="ttname"><a href="classpcl_1_1_narf.html#a7256133a789ed42b4e2fecb9ef7ee061">pcl::Narf::getDescriptor</a></div><div class="ttdeci">const float * getDescriptor() const</div><div class="ttdoc">Getter (const) for the descriptor</div><div class="ttdef"><b>Definition:</b> narf.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a7b5d224adcdd8485e02a05ebe229aaf1"><div class="ttname"><a href="classpcl_1_1_narf.html#a7b5d224adcdd8485e02a05ebe229aaf1">pcl::Narf::getBlurredSurfacePatch</a></div><div class="ttdeci">float * getBlurredSurfacePatch(int new_pixel_size, int blur_radius) const</div><div class="ttdoc">Get the surface patch with a blur on it</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a7c4f635ff08342e9713a8ce92f8bb43d"><div class="ttname"><a href="classpcl_1_1_narf.html#a7c4f635ff08342e9713a8ce92f8bb43d">pcl::Narf::getSurfacePatchPixelSize</a></div><div class="ttdeci">int &amp; getSurfacePatchPixelSize()</div><div class="ttdoc">Getter for the pixel size of the surface patch (only one dimension)</div><div class="ttdef"><b>Definition:</b> narf.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a8101cd954ba024b13e3ffee8610c7e2c"><div class="ttname"><a href="classpcl_1_1_narf.html#a8101cd954ba024b13e3ffee8610c7e2c">pcl::Narf::extractFromRangeImage</a></div><div class="ttdeci">bool extractFromRangeImage(const RangeImage &amp;range_image, const Eigen::Affine3f &amp;pose, int descriptor_size, float support_size, int surface_patch_world_size=NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a8125c8d1ca006267b558380b85fdfc2a"><div class="ttname"><a href="classpcl_1_1_narf.html#a8125c8d1ca006267b558380b85fdfc2a">pcl::Narf::saveHeader</a></div><div class="ttdeci">void saveHeader(std::ostream &amp;file) const</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a87a7424251b04af12cc614b8a5748df3"><div class="ttname"><a href="classpcl_1_1_narf.html#a87a7424251b04af12cc614b8a5748df3">pcl::Narf::loadBinary</a></div><div class="ttdeci">void loadBinary(const std::string &amp;filename)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a89db16a26f7e0925e718a75efba608a6"><div class="ttname"><a href="classpcl_1_1_narf.html#a89db16a26f7e0925e718a75efba608a6">pcl::Narf::saveBinary</a></div><div class="ttdeci">void saveBinary(const std::string &amp;filename) const</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a9ee48b664ec95b095dec9f7d5fcd3dab"><div class="ttname"><a href="classpcl_1_1_narf.html#a9ee48b664ec95b095dec9f7d5fcd3dab">pcl::Narf::getSurfacePatchWorldSize</a></div><div class="ttdeci">const float &amp; getSurfacePatchWorldSize() const</div><div class="ttdoc">Getter (const) for the world size of the surface patch</div><div class="ttdef"><b>Definition:</b> narf.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_a9eefc769a909b7e125a794c380c1b5fb"><div class="ttname"><a href="classpcl_1_1_narf.html#a9eefc769a909b7e125a794c380c1b5fb">pcl::Narf::getDescriptor</a></div><div class="ttdeci">float * getDescriptor()</div><div class="ttdoc">Getter for the descriptor</div><div class="ttdef"><b>Definition:</b> narf.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_aa62146ff1369f2f3c3b15a8183910269"><div class="ttname"><a href="classpcl_1_1_narf.html#aa62146ff1369f2f3c3b15a8183910269">pcl::Narf::extractFromRangeImageWithBestRotation</a></div><div class="ttdeci">bool extractFromRangeImageWithBestRotation(const RangeImage &amp;range_image, const Eigen::Vector3f &amp;interest_point, int descriptor_size, float support_size)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_aa856b2054103e3dae1553e13bfdbcc58"><div class="ttname"><a href="classpcl_1_1_narf.html#aa856b2054103e3dae1553e13bfdbcc58">pcl::Narf::~Narf</a></div><div class="ttdeci">~Narf()</div><div class="ttdoc">Destructor</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_aa9335fa38746f8e7bfb4c9636331e1fc"><div class="ttname"><a href="classpcl_1_1_narf.html#aa9335fa38746f8e7bfb4c9636331e1fc">pcl::Narf::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset al members to default values and free allocated memory</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_aab5c91809cbfbce1ede48f82125fc2fd"><div class="ttname"><a href="classpcl_1_1_narf.html#aab5c91809cbfbce1ede48f82125fc2fd">pcl::Narf::extractFromRangeImageAndAddToList</a></div><div class="ttdeci">static void extractFromRangeImageAndAddToList(const RangeImage &amp;range_image, float image_x, float image_y, int descriptor_size, float support_size, bool rotation_invariant, std::vector&lt; Narf * &gt; &amp;feature_list)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_ab3fcc2d8f34c150c6640a554dfa86cb9"><div class="ttname"><a href="classpcl_1_1_narf.html#ab3fcc2d8f34c150c6640a554dfa86cb9">pcl::Narf::extractDescriptor</a></div><div class="ttdeci">bool extractDescriptor(int descriptor_size)</div><div class="ttdoc">Create the descriptor from the already set other members</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_abcbc027348cdabae5b754a01faf7dbcf"><div class="ttname"><a href="classpcl_1_1_narf.html#abcbc027348cdabae5b754a01faf7dbcf">pcl::Narf::extractForEveryRangeImagePointAndAddToList</a></div><div class="ttdeci">static void extractForEveryRangeImagePointAndAddToList(const RangeImage &amp;range_image, int descriptor_size, float support_size, bool rotation_invariant, std::vector&lt; Narf * &gt; &amp;feature_list)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_ac31a69b7a3388b2d38551e16f7c2dd5a"><div class="ttname"><a href="classpcl_1_1_narf.html#ac31a69b7a3388b2d38551e16f7c2dd5a">pcl::Narf::getPosition</a></div><div class="ttdeci">const Eigen::Vector3f &amp; getPosition() const</div><div class="ttdoc">Getter (const) for the position</div><div class="ttdef"><b>Definition:</b> narf.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_ac93851648c43f8b8cd638cac800a44fe"><div class="ttname"><a href="classpcl_1_1_narf.html#ac93851648c43f8b8cd638cac800a44fe">pcl::Narf::loadBinary</a></div><div class="ttdeci">void loadBinary(std::istream &amp;file)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_ad06fca7936e50819c27ca51221283641"><div class="ttname"><a href="classpcl_1_1_narf.html#ad06fca7936e50819c27ca51221283641">pcl::Narf::getPosition</a></div><div class="ttdeci">Eigen::Vector3f &amp; getPosition()</div><div class="ttdoc">Getter for the position</div><div class="ttdef"><b>Definition:</b> narf.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_ad0d6212bd684e1bd04281b2b495bdd81"><div class="ttname"><a href="classpcl_1_1_narf.html#ad0d6212bd684e1bd04281b2b495bdd81">pcl::Narf::extractForInterestPoints</a></div><div class="ttdeci">static void extractForInterestPoints(const RangeImage &amp;range_image, const PointCloud&lt; InterestPoint &gt; &amp;interest_points, int descriptor_size, float support_size, bool rotation_invariant, std::vector&lt; Narf * &gt; &amp;feature_list)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_ad356170cac220a28fbc40ce75d63ff77"><div class="ttname"><a href="classpcl_1_1_narf.html#ad356170cac220a28fbc40ce75d63ff77">pcl::Narf::extractFromRangeImage</a></div><div class="ttdeci">bool extractFromRangeImage(const RangeImage &amp;range_image, const Eigen::Vector3f &amp;interest_point, int descriptor_size, float support_size)</div><div class="ttdoc">Same as above</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_adf2b4b5701f7f4870bff70391f533dc8"><div class="ttname"><a href="classpcl_1_1_narf.html#adf2b4b5701f7f4870bff70391f533dc8">pcl::Narf::deepCopy</a></div><div class="ttdeci">void deepCopy(const Narf &amp;other)</div><div class="ttdoc">Create a deep copy of other</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_html_af6765896bc6146f1543c96b9a8c198dd"><div class="ttname"><a href="classpcl_1_1_narf.html#af6765896bc6146f1543c96b9a8c198dd">pcl::Narf::setDescriptor</a></div><div class="ttdeci">void setDescriptor(float *descriptor)</div><div class="ttdoc">Setter for the descriptor</div><div class="ttdef"><b>Definition:</b> narf.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html"><div class="ttname"><a href="classpcl_1_1_point_representation.html">pcl::PointRepresentation</a></div><div class="ttdoc">PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...</div><div class="ttdef"><b>Definition:</b> point_representation.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html"><div class="ttname"><a href="classpcl_1_1_range_image.html">pcl::RangeImage</a></div><div class="ttdoc">RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...</div><div class="ttdef"><b>Definition:</b> range_image.h:56</div></div>
<div class="ttc" id="astructpcl_1_1_interest_point_html"><div class="ttname"><a href="structpcl_1_1_interest_point.html">pcl::InterestPoint</a></div><div class="ttdoc">A point structure representing an interest point with Euclidean xyz coordinates, and an interest valu...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:745</div></div>
<div class="ttc" id="astructpcl_1_1_narf36_html"><div class="ttname"><a href="structpcl_1_1_narf36.html">pcl::Narf36</a></div><div class="ttdoc">A point structure representing the Narf descriptor.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1428</div></div>
<div class="ttc" id="astructpcl_1_1_narf_1_1_feature_point_representation_html"><div class="ttname"><a href="structpcl_1_1_narf_1_1_feature_point_representation.html">pcl::Narf::FeaturePointRepresentation</a></div><div class="ttdef"><b>Definition:</b> narf.h:238</div></div>
<div class="ttc" id="astructpcl_1_1_narf_1_1_feature_point_representation_html_a97bcb35f5251e016e2b8d99f16a70e28"><div class="ttname"><a href="structpcl_1_1_narf_1_1_feature_point_representation.html#a97bcb35f5251e016e2b8d99f16a70e28">pcl::Narf::FeaturePointRepresentation::~FeaturePointRepresentation</a></div><div class="ttdeci">virtual ~FeaturePointRepresentation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> narf.h:242</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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